KR102472347B1 - Adr system for self-driving bus having improved network topology - Google Patents

Abstract

An AUTONOMOUS-DRIVING DATA RECORDER (ADR) system of an autonomous bus having an improved network topology according to the present invention includes an image information collection unit that collects image data generated by a plurality of camera devices installed in the autonomous vehicle; a sensing information collection unit that collects sensing data generated by at least one sensor installed in the self-driving bus; and a data processor configured to synchronize and store the collected image data and sensing data. Here, the ADR system of the self-driving bus is connected to the surround view monitoring device through a single communication line, receives multi-channel video data from the surround view monitoring device, and returns a single Ethernet communication with the network hub unit. Connected, the sensing data may be received from the network hub unit.

Description

ADR system of autonomous bus with improved network topology {ADR SYSTEM FOR SELF-DRIVING BUS HAVING IMPROVED NETWORK TOPOLOGY}

The present invention relates to an ADR system of an autonomous bus having an improved network topology, which can greatly improve the data transmission efficiency of the autonomous bus.

Self-driving vehicles use sensors or communication to recognize and judge surrounding conditions and road information, and accordingly, automatically control the vehicle's steering and braking devices, fault monitoring and warning devices, and function release devices. means vehicle.

Self-driving vehicles are rapidly developing thanks to advances in sensing technology and object recognition technology. Recently, an autonomous bus has been proposed to realize not only support for the self-driving function of a personal vehicle, but also reduction of operating costs for public transportation services and enhancement of services.

Self-driving buses, compared to general personal vehicles, have a wide blind spot and operate with a large number of passengers on board, so the risk of accidents and the scale of human casualties in the event of an accident are high. Accordingly, in the case of an autonomous bus, more video monitoring devices and sensors for detecting surrounding situations need to be installed than in general vehicles. Here, a high network load may occur due to data generated by the video monitoring device and a plurality of sensors, and thus a considerable bandwidth is required.

However, studies on network topologies for large autonomous vehicles have been insignificant to date, and it is necessary to develop technologies for network topologies optimized for autonomous buses.

In addition, the ADR system should collect image data and multi-sensing data for detecting the surrounding situation in an integrated manner, synchronize with the driving information of the vehicle, and store them in an integrated manner. It will also be necessary to develop a technology that can store various data collected from the bus in an integrated manner.

Korean Patent Publication No. 10-2020-0027797

The present invention has been derived to solve the above problems, and is intended to provide an ADR system for an autonomous bus having an improved network topology that can significantly improve data transmission efficiency of the autonomous bus.

In addition, the present invention is to provide an ADR system for an autonomous bus having an improved network topology, capable of synchronizing and integrally storing internal and external video data, composite sensing data, and driving record data of the autonomous bus.

An AUTONOMOUS-DRIVING DATA RECORDER (ADR) system of an autonomous bus having an improved network topology according to the present invention includes an image information collection unit that collects image data generated by a plurality of camera devices installed in the autonomous vehicle; a sensing information collection unit that collects sensing data generated by at least one sensor installed in the self-driving bus; and a data processor configured to synchronize and store the collected image data and sensing data. Here, the ADR system of the self-driving bus is connected to the surround view monitoring device through a single communication line, receives multi-channel video data from the surround view monitoring device, and returns a single Ethernet communication with the network hub unit. Connected, the sensing data may be received from the network hub unit.

In one embodiment, the network hub unit is connected to each of a plurality of sensors in a communication reply according to any one of CAN, CAN-FD B / C-CAN or Ethernet to receive sensing data, and the single The received sensing data may be provided to the sensing information collection unit through an Ethernet communication line.

In one embodiment, the network hub unit may be connected to the LIDAR hub unit through a single Ethernet communication line and receive sensing data generated by a plurality of LIDARs from the LIDAR hub unit.

In one embodiment, the image information collection unit may receive image data of at least 6 channels or more from the surround view monitoring device.

The ADR system of an autonomous bus according to the present invention is connected to a surround view monitoring device through a single communication line, receives multi-channel image data from the surround view monitoring device, and returns a single Ethernet communication with a network hub unit. By being connected and configured to receive the sensing data from the network hub unit, network load may be reduced.

In addition, the present invention can improve data processing efficiency for supporting autonomous driving functions by collecting, synchronizing, and integrally storing internal and external image data, composite sensing data, and driving record data of an autonomous bus.

1 is a block diagram for explaining an ADR system of an autonomous bus according to the present invention.
2 is a reference diagram for explaining an ADR system of an autonomous bus having an improved network topology according to an embodiment of the present invention.
3 is a reference diagram for explaining an operation of an image information collection unit according to an embodiment of the present invention.
4 is a reference diagram for explaining the operation of a data processing unit according to an embodiment of the present invention.
5 and 6 are reference diagrams for explaining the operation of the ADR system of an autonomous bus according to an embodiment of the present invention.

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, it should be understood that this is not intended to limit the present invention to specific embodiments, and includes all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the present invention, if it is determined that a detailed description of related known technologies may obscure the gist of the present invention, the detailed description will be omitted.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram for explaining an ADR system of an autonomous driving bus according to the present invention, and FIG. 2 is a reference diagram for explaining an ADR system of an autonomous driving bus having an improved network topology according to an embodiment of the present invention. to be. 3 is a reference diagram for explaining the operation of the image information collection unit according to an embodiment of the present invention, and FIG. 4 is a reference diagram for explaining the operation of the data processing unit according to an embodiment of the present invention. 5 and 6 are reference diagrams for explaining the operation of the ADR system of an autonomous bus according to an embodiment of the present invention.

First of all, an AUTONOMOUS-DRIVING DATA RECORDER (ADR) system (hereinafter referred to as ADR system) of an autonomous bus according to the present invention corresponds to a computing device included in an autonomous bus and performing operations described below. More specifically, the ADR system according to the present invention is a device for collecting and storing various data produced in an autonomous bus, and has a function of collecting, synchronizing, and storing internal and external video data, complex sensing data, and driving record data. can be done

Referring to FIG. 1, the ADR system 100 includes an image information collection unit 110, a sensing information collection unit 120, a driving information collection unit 130, a data processing unit 140, and a data security unit 150. can be configured.

The image information collecting unit 110 collects at least one image data of internal image data or external image data of the self-driving bus from at least one camera device installed in the self-driving bus.

In one embodiment, the image information collection unit 110 may collect external image data (eg, surround view image data) from a plurality of camera devices each installed at a predetermined location outside the self-driving bus. Here, at least four or more camera devices may be installed outside the self-driving bus. For example, referring to FIG. 3 , six camera devices 111 to 116 are provided on the outside of the self-driving bus, respectively: front 111, rear 112, left side front 113, left side rear 114, It may be installed on the right side front 115 and right side rear side 116, and each of the camera devices 111 to 116 may have a predefined FOV and generate external image data in real time. Here, the image information collection unit 110 may collect external image data by being connected to each of the camera devices 111 to 116 through a network. Meanwhile, at least four or more external camera devices may be installed in consideration of the size of the self-driving bus, and preferably, six or more external camera devices may be installed as shown in FIG. 3 .

In one embodiment, the image information collection unit 110 may collect internal image data from a plurality of camera devices each installed in a predefined location inside the self-driving bus. Here, at least two or more camera devices may be installed inside the self-driving bus. For example, referring to FIG. 3 , two camera devices 117 and 118 may be installed on the front 117 and the side 1158 inside the self-driving bus, respectively, and each camera device 117 and 118 It has a predefined FOV and can generate internal image data in real time. Here, the image information collection unit 110 may be connected to each of the camera devices 117 and 118 through a network to collect internal image data. Meanwhile, internal image data collected through the internal camera devices 117 and 118 may be used as basic data for recognizing passengers inside the self-driving bus.

The sensing information collection unit 120 collects sensing data generated by at least one sensor installed in the self-driving bus.

In one embodiment, the sensing information collection unit 120 may be connected to a multi-complex sensor installed in an autonomous bus through a network to collect multi-complex sensing data generated by the multi-complex sensor. Here, the multi-complex sensor may refer to a set of sensors installed in the self-driving bus, and may include LiDAR, RaDAR, GPS sensor, and acceleration sensor. On the other hand, these embodiments are not intended to limit the scope of the present invention, and the multi-complex sensor may be configured to further include various sensors in addition to LiDAR, RaDAR, GPS sensors, and acceleration sensors.

The driving information collection unit 130 collects driving record data according to driving of the self-driving bus.

In an embodiment, the driving information collection unit 130 may be connected to a vehicle driving information management device installed in an autonomous bus through a network to collect driving record data from the vehicle driving information management device. Here, the driving record data may include speed data, gear control data, steering angle control data, RPM data, and braking data. Meanwhile, this embodiment is not intended to limit the scope of the present invention, and the driving record data may further include various driving-related data in addition to speed data, gear control data, steering angle control data, RPM data, and braking data. Of course there is.

The data processing unit 140 synchronizes and stores image data, sensing data, and driving record data. For example, referring to FIG. 4 , image data may include internal and external image data collected from eight camera devices, and multi-complex sensing data includes sensing data collected from LiDAR, RaDAR, GPS sensors, acceleration sensors, and the like. The driving record data may include speed data, gear control data, steering angle control data, RPM data, braking data, and the like. Here, referring to FIG. 5 , the data processing unit 140 may synchronize and store collected image data and driving data (sensing data and driving record data). At this time, the data processor 140 may synchronize image data and driving data (sensing data and driving record data) and store them in a predefined data format. For example, the data processing unit 140 may synchronize the collected data as shown in FIG. 5 and divide the collected data into N channels and store them.

The data security unit 150 may encrypt and decrypt the synchronized stored image data, sensing data, and driving record data according to predefined rules. That is, the data security unit 150 may perform a data security function according to predefined rules in order to enhance security of collected data.

Hereinafter, a network topology according to the present invention will be described with reference to FIG. 2 .

As described above, the weakness of self-driving buses is that they have large physical specifications, unlike general self-driving vehicles. In order to overcome this weakness, an autonomous bus may be equipped with a plurality of camera devices and sensors. At this time, due to the transmission and reception of various data such as video data and sensing data, a network load may be greatly increased, and thus a considerable bandwidth may be required. In order to solve this problem, the present invention proposes the following network topology.

In one embodiment, the ADR system 100 may be connected to the surround view monitoring device 200 through a single communication line. Here, the ADR system 100 may receive multi-channel image data from the surround view monitoring device 200 . As shown in FIG. 2 , the ADR system 100 may receive 6-channel image data from the surround view monitoring device 200 through a single communication line without receiving it from each camera device.

In one embodiment, the ADR system 100 may be connected to the network hub unit 300 with a single Ethernet communication return. Here, the ADR system 100 may receive complex sensing data from the network hub unit 300 . As shown in FIG. 2, an autonomous vehicle may include a network hub unit (300, ESU, Ethernet switch unit) including a gateway (GW#1), and the ADR system 100 transmits complex sensing data to each It can be provided through a single Ethernet communication line from the network hub unit 300 without being transmitted from the sensor.

In one embodiment, the network hub unit 300 may be connected to each of a plurality of sensors to receive sensing data through a communication reply according to any one of CAN, CAN-FD B/C-CAN, or Ethernet, , The received sensing data may be provided to the sensing information collection unit 120 through a single Ethernet communication line. For example, referring to FIG. 2, the gateway of the network hub unit 300 is connected to a CAN, CAN-FD B/C-CAN communication bus, or connected to an Ethernet communication line, so that various sensing operations generated in an autonomous vehicle can be performed. data can be collected. Here, the ADR system 100 may receive various sensing data from the network hub unit 300 through a single Ethernet communication line.

In one embodiment, the network hub unit 300 may be connected to the LIDAR hub unit 400 through a single Ethernet communication line. Here, the network hub unit 300 may receive sensing data generated by a plurality of LIDARs from the LIDAR hub unit 400 . As shown in FIG. 2, an autonomous vehicle may include a LIDAR hub unit 400 including a LIDAR hub, and the network hub unit 300 does not receive LIDAR sensing data from each LIDAR sensor, and the LIDAR hub unit 300 does not receive LIDAR sensing data from each LIDAR sensor. It can be provided from the hub unit 400 through a single Ethernet communication line.

The ADR system 100 according to the present invention may be connected to various external devices and provide synchronized and integrated stored data to the external device. For example, as shown in FIG. 6, the ADR system 100 provides data stored in a real-time video monitoring device, and the real-time video monitoring device analyzes the provided data to monitor situations occurring in an autonomous bus in real time. can make it

The preferred embodiments of the present invention described above have been disclosed for illustrative purposes, and those skilled in the art with ordinary knowledge of the present invention will be able to make various modifications, changes, and additions within the spirit and scope of the present invention, and these modifications, changes, and The additions should be viewed as falling within the scope of the following claims.

100: ADR system
110: image information collection unit
111 to 118: camera device
120: sensing information collection unit
130: driving information collection unit
140: data processing unit
150: data security department
200: surround view monitoring device
300: network hub unit
400: LIDAR hub unit

Claims (4)

In the ADR (AUTONOMOUS-DRIVING DATA RECORDER) system of an autonomous bus with an improved network topology,
An image information collection unit that collects image data generated by a plurality of camera devices installed in the self-driving bus;
a sensing information collection unit that collects sensing data generated by at least one sensor installed in the self-driving bus; and
A data processor configured to synchronize and store the collected image data and sensing data;
The ADR system of the self-driving bus,
It is connected to the surround view monitoring device through a single communication line and receives multi-channel image data from the surround view monitoring device.
Connected to a network hub unit through a single Ethernet communication reply, receiving the sensing data from the network hub unit;
The network hub unit,
Through a communication reply according to any one of CAN, CAN-FD B/C-CAN, or Ethernet, it is connected to each of a plurality of sensors to receive sensing data, and the provided sensing data through the single Ethernet communication line. Characterized in that provided to the sensing information collection unit,
ADR system of autonomous bus with improved network topology.
delete The method of claim 1, wherein the network hub unit,
Characterized in that it is connected to the LIDAR hub unit through a single Ethernet communication line and receives sensing data generated by a plurality of LIDARs from the LIDAR hub unit.
ADR system of autonomous bus with improved network topology.
The method of claim 1, wherein the image information collection unit,
Characterized in that video data of at least 6 channels or more is provided from the surround view monitoring device,
ADR system of autonomous bus with improved network topology.

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